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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">scene_flow_uncalib</span><span data-if="c" style="display:none;">scene_flow_uncalib</span><span data-if="cpp" style="display:none;">SceneFlowUncalib</span><span data-if="dotnet" style="display:none;">SceneFlowUncalib</span><span data-if="python" style="display:none;">scene_flow_uncalib</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">scene_flow_uncalib</span><span data-if="c" style="display:none;">scene_flow_uncalib</span><span data-if="cpp" style="display:none;">SceneFlowUncalib</span><span data-if="dotnet" style="display:none;">SceneFlowUncalib</span><span data-if="python" style="display:none;">scene_flow_uncalib</span></code> — Compute the uncalibrated scene flow between two stereo image pairs.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>scene_flow_uncalib</b>(<a href="#ImageRect1T1"><i>ImageRect1T1</i></a>, <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, <a href="#Disparity"><i>Disparity</i></a> : <a href="#OpticalFlow"><i>OpticalFlow</i></a>, <a href="#DisparityChange"><i>DisparityChange</i></a> : <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, <a href="#GenParamName"><i>GenParamName</i></a>, <a href="#GenParamValue"><i>GenParamValue</i></a> : )</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>scene_flow_uncalib</b>(const Hobject <a href="#ImageRect1T1"><i>ImageRect1T1</i></a>, const Hobject <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const Hobject <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const Hobject <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const Hobject <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#OpticalFlow"><i>OpticalFlow</i></a>, Hobject* <a href="#DisparityChange"><i>DisparityChange</i></a>, double <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, double <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code>Herror <b>T_scene_flow_uncalib</b>(const Hobject <a href="#ImageRect1T1"><i>ImageRect1T1</i></a>, const Hobject <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const Hobject <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const Hobject <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const Hobject <a href="#Disparity"><i>Disparity</i></a>, Hobject* <a href="#OpticalFlow"><i>OpticalFlow</i></a>, Hobject* <a href="#DisparityChange"><i>DisparityChange</i></a>, const Htuple <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, const Htuple <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const Htuple <a href="#GenParamName"><i>GenParamName</i></a>, const Htuple <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>SceneFlowUncalib</b>(const HObject&amp; <a href="#ImageRect1T1"><i>ImageRect1T1</i></a>, const HObject&amp; <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const HObject&amp; <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const HObject&amp; <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const HObject&amp; <a href="#Disparity"><i>Disparity</i></a>, HObject* <a href="#OpticalFlow"><i>OpticalFlow</i></a>, HObject* <a href="#DisparityChange"><i>DisparityChange</i></a>, const HTuple&amp; <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, const HTuple&amp; <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>SceneFlowUncalib</b>(const HImage&amp; <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const HImage&amp; <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const HImage&amp; <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const HImage&amp; <a href="#Disparity"><i>Disparity</i></a>, HImage* <a href="#DisparityChange"><i>DisparityChange</i></a>, const HTuple&amp; <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, const HTuple&amp; <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const HTuple&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HTuple&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>SceneFlowUncalib</b>(const HImage&amp; <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const HImage&amp; <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const HImage&amp; <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const HImage&amp; <a href="#Disparity"><i>Disparity</i></a>, HImage* <a href="#DisparityChange"><i>DisparityChange</i></a>, double <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, double <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const HString&amp; <a href="#GenParamName"><i>GenParamName</i></a>, const HString&amp; <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>SceneFlowUncalib</b>(const HImage&amp; <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const HImage&amp; <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const HImage&amp; <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const HImage&amp; <a href="#Disparity"><i>Disparity</i></a>, HImage* <a href="#DisparityChange"><i>DisparityChange</i></a>, double <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, double <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const char* <a href="#GenParamName"><i>GenParamName</i></a>, const char* <a href="#GenParamValue"><i>GenParamValue</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>SceneFlowUncalib</b>(const HImage&amp; <a href="#ImageRect2T1"><i>ImageRect2T1</i></a>, const HImage&amp; <a href="#ImageRect1T2"><i>ImageRect1T2</i></a>, const HImage&amp; <a href="#ImageRect2T2"><i>ImageRect2T2</i></a>, const HImage&amp; <a href="#Disparity"><i>Disparity</i></a>, HImage* <a href="#DisparityChange"><i>DisparityChange</i></a>, double <a href="#SmoothingFlow"><i>SmoothingFlow</i></a>, double <a href="#SmoothingDisparity"><i>SmoothingDisparity</i></a>, const wchar_t* <a href="#GenParamName"><i>GenParamName</i></a>, const wchar_t* <a href="#GenParamValue"><i>GenParamValue</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
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<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>SceneFlowUncalib</b>(<a href="HObject.html">HObject</a> <a href="#ImageRect1T1"><i>imageRect1T1</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect2T1"><i>imageRect2T1</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect1T2"><i>imageRect1T2</i></a>, <a href="HObject.html">HObject</a> <a href="#ImageRect2T2"><i>imageRect2T2</i></a>, <a href="HObject.html">HObject</a> <a href="#Disparity"><i>disparity</i></a>, out <a href="HObject.html">HObject</a> <a href="#OpticalFlow"><i>opticalFlow</i></a>, out <a href="HObject.html">HObject</a> <a href="#DisparityChange"><i>disparityChange</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SmoothingFlow"><i>smoothingFlow</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SmoothingDisparity"><i>smoothingDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>SceneFlowUncalib</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2T1"><i>imageRect2T1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect1T2"><i>imageRect1T2</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2T2"><i>imageRect2T2</i></a>, <a href="HImage.html">HImage</a> <a href="#Disparity"><i>disparity</i></a>, out <a href="HImage.html">HImage</a> <a href="#DisparityChange"><i>disparityChange</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SmoothingFlow"><i>smoothingFlow</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SmoothingDisparity"><i>smoothingDisparity</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamName"><i>genParamName</i></a>, <a href="HTuple.html">HTuple</a> <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>SceneFlowUncalib</b>(<a href="HImage.html">HImage</a> <a href="#ImageRect2T1"><i>imageRect2T1</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect1T2"><i>imageRect1T2</i></a>, <a href="HImage.html">HImage</a> <a href="#ImageRect2T2"><i>imageRect2T2</i></a>, <a href="HImage.html">HImage</a> <a href="#Disparity"><i>disparity</i></a>, out <a href="HImage.html">HImage</a> <a href="#DisparityChange"><i>disparityChange</i></a>, double <a href="#SmoothingFlow"><i>smoothingFlow</i></a>, double <a href="#SmoothingDisparity"><i>smoothingDisparity</i></a>, string <a href="#GenParamName"><i>genParamName</i></a>, string <a href="#GenParamValue"><i>genParamValue</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>scene_flow_uncalib</b>(<a href="#ImageRect1T1"><i>image_rect_1t1</i></a>: HObject, <a href="#ImageRect2T1"><i>image_rect_2t1</i></a>: HObject, <a href="#ImageRect1T2"><i>image_rect_1t2</i></a>: HObject, <a href="#ImageRect2T2"><i>image_rect_2t2</i></a>: HObject, <a href="#Disparity"><i>disparity</i></a>: HObject, <a href="#SmoothingFlow"><i>smoothing_flow</i></a>: Union[float, int], <a href="#SmoothingDisparity"><i>smoothing_disparity</i></a>: Union[float, int], <a href="#GenParamName"><i>gen_param_name</i></a>: MaybeSequence[str], <a href="#GenParamValue"><i>gen_param_value</i></a>: MaybeSequence[Union[int, float, str]]) -&gt; Tuple[HObject, HObject]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p><code><span data-if="hdevelop" style="display:inline">scene_flow_uncalib</span><span data-if="c" style="display:none">scene_flow_uncalib</span><span data-if="cpp" style="display:none">SceneFlowUncalib</span><span data-if="com" style="display:none">SceneFlowUncalib</span><span data-if="dotnet" style="display:none">SceneFlowUncalib</span><span data-if="python" style="display:none">scene_flow_uncalib</span></code> computes the uncalibrated scene flow
between two consecutive rectified stereo image pairs.  The scene
flow is the three-dimensional position and motion of surface points
in a dynamic scene.  The movement in the images can be caused by
objects that move in the world or by a movement of the camera (or
both) between the acquisition of the two image pairs.  To calculate
the calibrated scene flow, <a href="scene_flow_calib.html"><code><span data-if="hdevelop" style="display:inline">scene_flow_calib</span><span data-if="c" style="display:none">scene_flow_calib</span><span data-if="cpp" style="display:none">SceneFlowCalib</span><span data-if="com" style="display:none">SceneFlowCalib</span><span data-if="dotnet" style="display:none">SceneFlowCalib</span><span data-if="python" style="display:none">scene_flow_calib</span></code></a> can be used.
</p>
<p>The two consecutive stereo image pairs of the image sequence are
passed in <a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a>, <a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a>,
<a href="#ImageRect1T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></i></a>, and <a href="#ImageRect2T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></i></a>.  Each stereo image
pair must be rectified.  Note that the images can be rectified by
using 该算子s <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>,
<a href="gen_binocular_rectification_map.html"><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code></a>, and <a href="map_image.html"><code><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></code></a>.
Furthermore, a single-channel <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> image is required,
which specifies for each pixel (r,c1) of the image
<a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a> a matching pixel (r,c2) of
<a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a> according to the equation c2=c1+d(r,c1),
where d(r,c) is the <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> at pixel (r,c).  The
disparity image can be computed using <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a> or
<a href="binocular_disparity_mg.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></code></a>.
</p>
<p>The computed uncalibrated scene flow is returned in
<a href="#OpticalFlow"><i><code><span data-if="hdevelop" style="display:inline">OpticalFlow</span><span data-if="c" style="display:none">OpticalFlow</span><span data-if="cpp" style="display:none">OpticalFlow</span><span data-if="com" style="display:none">OpticalFlow</span><span data-if="dotnet" style="display:none">opticalFlow</span><span data-if="python" style="display:none">optical_flow</span></code></i></a> and <a href="#DisparityChange"><i><code><span data-if="hdevelop" style="display:inline">DisparityChange</span><span data-if="c" style="display:none">DisparityChange</span><span data-if="cpp" style="display:none">DisparityChange</span><span data-if="com" style="display:none">DisparityChange</span><span data-if="dotnet" style="display:none">disparityChange</span><span data-if="python" style="display:none">disparity_change</span></code></i></a>.  The vectors in
the vector field <a href="#OpticalFlow"><i><code><span data-if="hdevelop" style="display:inline">OpticalFlow</span><span data-if="c" style="display:none">OpticalFlow</span><span data-if="cpp" style="display:none">OpticalFlow</span><span data-if="com" style="display:none">OpticalFlow</span><span data-if="dotnet" style="display:none">opticalFlow</span><span data-if="python" style="display:none">optical_flow</span></code></i></a> represent the movement in the
image plane between <a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a> and <a href="#ImageRect1T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></i></a>.
The single-channel image <a href="#DisparityChange"><i><code><span data-if="hdevelop" style="display:inline">DisparityChange</span><span data-if="c" style="display:none">DisparityChange</span><span data-if="cpp" style="display:none">DisparityChange</span><span data-if="com" style="display:none">DisparityChange</span><span data-if="dotnet" style="display:none">disparityChange</span><span data-if="python" style="display:none">disparity_change</span></code></i></a> describes the
change in disparity between <a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a> and
<a href="#ImageRect2T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></i></a>.  A world point is projected into
<a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a> at position (r,c).  The same point is
projected into
</p>
<ul>
<li>
<p> <a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a> at position (r,c+d(r,c)),
</p>
</li>
<li>
<p> <a href="#ImageRect1T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></i></a> at position (r+u(r,c),c+v(r,c)),
</p>
</li>
<li>
<p> <a href="#ImageRect2T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></i></a> at position
(r+u(r,c),c+v(r,c)+d(r,c)+dc(r,c)),
</p>
</li>
</ul>
<p>
where u(r,c) and v(r,c) denote the values of the row and column
components of the vector field image <a href="#OpticalFlow"><i><code><span data-if="hdevelop" style="display:inline">OpticalFlow</span><span data-if="c" style="display:none">OpticalFlow</span><span data-if="cpp" style="display:none">OpticalFlow</span><span data-if="com" style="display:none">OpticalFlow</span><span data-if="dotnet" style="display:none">opticalFlow</span><span data-if="python" style="display:none">optical_flow</span></code></i></a>, d(r,c)
denotes the <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a>, and dc(r,c) the
<a href="#DisparityChange"><i><code><span data-if="hdevelop" style="display:inline">DisparityChange</span><span data-if="c" style="display:none">DisparityChange</span><span data-if="cpp" style="display:none">DisparityChange</span><span data-if="com" style="display:none">DisparityChange</span><span data-if="dotnet" style="display:none">disparityChange</span><span data-if="python" style="display:none">disparity_change</span></code></i></a> at the pixel (r,c).
</p>
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<text xml:space="preserve" x="1890" y="720" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="middle">ImageRect1T1</text>

<text xml:space="preserve" x="1890" y="6300" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="middle">ImageRect1T2</text>

<text xml:space="preserve" x="5490" y="6300" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="middle">ImageRect2T2</text>

<text xml:space="preserve" x="5490" y="720" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="middle">ImageRect2T1</text>

<text xml:space="preserve" x="1530" y="1575" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="132" text-anchor="start">(r,c)</text>

<text xml:space="preserve" x="1170" y="5265" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="132" text-anchor="start">(r+u(r,c),c+v(r,c))</text>

<text xml:space="preserve" x="4455" y="5265" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="132" text-anchor="start">(r+u(r,c),c+v(r,c)+d(r,c)+dc(r,c))</text>

<text xml:space="preserve" x="3600" y="1170" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="end">Disparity</text>

<text xml:space="preserve" x="3690" y="1170" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="144" text-anchor="start">d(r,c)</text>

<text xml:space="preserve" x="5490" y="1575" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="132" text-anchor="start">(r,c+d(r,c))</text>

<text xml:space="preserve" x="2160" y="3510" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="end">OpticalFlow</text>

<text xml:space="preserve" x="2250" y="3510" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="144" text-anchor="start">(u(r,c),v(r,c))</text>

<text xml:space="preserve" x="3204" y="5850" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="144" text-anchor="start">dc(r,c)</text>

<text xml:space="preserve" x="2520" y="5660" fill="#000000" font-family="Helvetica" font-style="normal" font-weight="normal" font-size="144" text-anchor="start">d(r,c) +</text>

<text xml:space="preserve" x="2475" y="5660" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="end">Disparity</text>

<text xml:space="preserve" x="3159" y="5850" fill="#000000" font-family="Courier" font-style="normal" font-weight="normal" font-size="144" text-anchor="end">DisparityChange</text>
</g>
</svg><div style="margin-bottom:30px;text-align:center;" class="caption">
Relations between the four images and the optical flow as well as
the disparities in the disparity images.
</div>
</div>
<h3>Parameter Description</h3>
<p>The rectified input images are passed in <a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a>,
<a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a>, <a href="#ImageRect1T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></i></a>, and
<a href="#ImageRect2T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></i></a>.  The computation of the scene flow is
performed on the domain of <a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a>, which is
also the domain of the scene flow in <a href="#OpticalFlow"><i><code><span data-if="hdevelop" style="display:inline">OpticalFlow</span><span data-if="c" style="display:none">OpticalFlow</span><span data-if="cpp" style="display:none">OpticalFlow</span><span data-if="com" style="display:none">OpticalFlow</span><span data-if="dotnet" style="display:none">opticalFlow</span><span data-if="python" style="display:none">optical_flow</span></code></i></a> and
<a href="#DisparityChange"><i><code><span data-if="hdevelop" style="display:inline">DisparityChange</span><span data-if="c" style="display:none">DisparityChange</span><span data-if="cpp" style="display:none">DisparityChange</span><span data-if="com" style="display:none">DisparityChange</span><span data-if="dotnet" style="display:none">disparityChange</span><span data-if="python" style="display:none">disparity_change</span></code></i></a>.  <a href="#Disparity"><i><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></i></a> describes the
disparity between the rectified images <a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a> and
<a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a>.
</p>
<p><a href="#SmoothingFlow"><i><code><span data-if="hdevelop" style="display:inline">SmoothingFlow</span><span data-if="c" style="display:none">SmoothingFlow</span><span data-if="cpp" style="display:none">SmoothingFlow</span><span data-if="com" style="display:none">SmoothingFlow</span><span data-if="dotnet" style="display:none">smoothingFlow</span><span data-if="python" style="display:none">smoothing_flow</span></code></i></a> and <a href="#SmoothingDisparity"><i><code><span data-if="hdevelop" style="display:inline">SmoothingDisparity</span><span data-if="c" style="display:none">SmoothingDisparity</span><span data-if="cpp" style="display:none">SmoothingDisparity</span><span data-if="com" style="display:none">SmoothingDisparity</span><span data-if="dotnet" style="display:none">smoothingDisparity</span><span data-if="python" style="display:none">smoothing_disparity</span></code></i></a> specify the
regularization weights <span title="1" style="vertical-align:-0.0959262em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.707152em" height="0.816853em" viewBox="0 0 11.314438 13.069641">
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with respect to the data term.  The larger the value of these
parameters, the smoother the computed scene flow is.  For byte
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around 40 typically yield good results.
</p>
<p>The parameters of the iteration scheme and for the coarse-to-fine
warping strategy can be specified with the generic parameters
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>.
</p>
<p>Usually, it is sufficient to use one of the default parameter sets
for the parameters by using <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> =
<i><span data-if="hdevelop" style="display:inline">'default_parameters'</span><span data-if="c" style="display:none">"default_parameters"</span><span data-if="cpp" style="display:none">"default_parameters"</span><span data-if="com" style="display:none">"default_parameters"</span><span data-if="dotnet" style="display:none">"default_parameters"</span><span data-if="python" style="display:none">"default_parameters"</span></i> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> =
<i><span data-if="hdevelop" style="display:inline">'very_accurate'</span><span data-if="c" style="display:none">"very_accurate"</span><span data-if="cpp" style="display:none">"very_accurate"</span><span data-if="com" style="display:none">"very_accurate"</span><span data-if="dotnet" style="display:none">"very_accurate"</span><span data-if="python" style="display:none">"very_accurate"</span></i>, <i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i>, <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i>, or
<i><span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span></i>.  If necessary, individual parameters can be
modified after the default parameter set has been chosen by
specifying a subset of the parameters and corresponding values after
<i><span data-if="hdevelop" style="display:inline">'default_parameters'</span><span data-if="c" style="display:none">"default_parameters"</span><span data-if="cpp" style="display:none">"default_parameters"</span><span data-if="com" style="display:none">"default_parameters"</span><span data-if="dotnet" style="display:none">"default_parameters"</span><span data-if="python" style="display:none">"default_parameters"</span></i> in <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and
<a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> (e.g., <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> =
<i><span data-if="hdevelop" style="display:inline">['default_parameters','warp_zoom_factor']</span><span data-if="c" style="display:none">["default_parameters","warp_zoom_factor"]</span><span data-if="cpp" style="display:none">["default_parameters","warp_zoom_factor"]</span><span data-if="com" style="display:none">["default_parameters","warp_zoom_factor"]</span><span data-if="dotnet" style="display:none">["default_parameters","warp_zoom_factor"]</span><span data-if="python" style="display:none">["default_parameters","warp_zoom_factor"]</span></i> and
<a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">['accurate',0.6]</span><span data-if="c" style="display:none">["accurate",0.6]</span><span data-if="cpp" style="display:none">["accurate",0.6]</span><span data-if="com" style="display:none">["accurate",0.6]</span><span data-if="dotnet" style="display:none">["accurate",0.6]</span><span data-if="python" style="display:none">["accurate",0.6]</span></i>).  The meaning of
the individual parameters is described in detail below.  The default
parameter sets are given by:
</p>
<div style="text-align:center"><table style="margin-left:auto;margin-right:auto" class="grid">
<col span="1">
<col span="1">
<col span="1">
<col span="1">
<col span="1">
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'default_parameters'</span><span data-if="c" style="display:none">"default_parameters"</span><span data-if="cpp" style="display:none">"default_parameters"</span><span data-if="com" style="display:none">"default_parameters"</span><span data-if="dotnet" style="display:none">"default_parameters"</span><span data-if="python" style="display:none">"default_parameters"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'very_accurate'</span><span data-if="c" style="display:none">"very_accurate"</span><span data-if="cpp" style="display:none">"very_accurate"</span><span data-if="com" style="display:none">"very_accurate"</span><span data-if="dotnet" style="display:none">"very_accurate"</span><span data-if="python" style="display:none">"very_accurate"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span></i> </td>
<td style="text-align:left"> <i><span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span></i> </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i>   </td>
<td style="text-align:left"> 0.75                     </td>
<td style="text-align:left"> 0.5                 </td>
<td style="text-align:left"> 0.5             </td>
<td style="text-align:left"> 0.5         </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'warp_levels'</span><span data-if="c" style="display:none">"warp_levels"</span><span data-if="cpp" style="display:none">"warp_levels"</span><span data-if="com" style="display:none">"warp_levels"</span><span data-if="dotnet" style="display:none">"warp_levels"</span><span data-if="python" style="display:none">"warp_levels"</span></i>        </td>
<td style="text-align:left"> 0                        </td>
<td style="text-align:left"> 0                   </td>
<td style="text-align:left"> 0               </td>
<td style="text-align:left"> 0           </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'warp_last_level'</span><span data-if="c" style="display:none">"warp_last_level"</span><span data-if="cpp" style="display:none">"warp_last_level"</span><span data-if="com" style="display:none">"warp_last_level"</span><span data-if="dotnet" style="display:none">"warp_last_level"</span><span data-if="python" style="display:none">"warp_last_level"</span></i>    </td>
<td style="text-align:left"> 1                        </td>
<td style="text-align:left"> 1                   </td>
<td style="text-align:left"> 1               </td>
<td style="text-align:left"> 2           </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'outer_iter'</span><span data-if="c" style="display:none">"outer_iter"</span><span data-if="cpp" style="display:none">"outer_iter"</span><span data-if="com" style="display:none">"outer_iter"</span><span data-if="dotnet" style="display:none">"outer_iter"</span><span data-if="python" style="display:none">"outer_iter"</span></i>         </td>
<td style="text-align:left"> 10                       </td>
<td style="text-align:left"> 7                   </td>
<td style="text-align:left"> 5               </td>
<td style="text-align:left"> 4           </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'inner_iter'</span><span data-if="c" style="display:none">"inner_iter"</span><span data-if="cpp" style="display:none">"inner_iter"</span><span data-if="com" style="display:none">"inner_iter"</span><span data-if="dotnet" style="display:none">"inner_iter"</span><span data-if="python" style="display:none">"inner_iter"</span></i>         </td>
<td style="text-align:left"> 2                        </td>
<td style="text-align:left"> 2                   </td>
<td style="text-align:left"> 2               </td>
<td style="text-align:left"> 2           </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'sor_iter'</span><span data-if="c" style="display:none">"sor_iter"</span><span data-if="cpp" style="display:none">"sor_iter"</span><span data-if="com" style="display:none">"sor_iter"</span><span data-if="dotnet" style="display:none">"sor_iter"</span><span data-if="python" style="display:none">"sor_iter"</span></i>           </td>
<td style="text-align:left"> 3                        </td>
<td style="text-align:left"> 3                   </td>
<td style="text-align:left"> 3               </td>
<td style="text-align:left"> 3           </td>
</tr>
<tr>
<td style="text-align:left">
<i><span data-if="hdevelop" style="display:inline">'omega'</span><span data-if="c" style="display:none">"omega"</span><span data-if="cpp" style="display:none">"omega"</span><span data-if="com" style="display:none">"omega"</span><span data-if="dotnet" style="display:none">"omega"</span><span data-if="python" style="display:none">"omega"</span></i>              </td>
<td style="text-align:left"> 1.9                      </td>
<td style="text-align:left"> 1.9                 </td>
<td style="text-align:left"> 1.9             </td>
<td style="text-align:left"> 1.9
</td>
</tr>
</table></div>
<p>If the parameters should be specified individually,
<a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> and <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a> must be set to
tuples of the same length.  The values corresponding to the
parameters specified in <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> must be specified at
the corresponding position in <a href="#GenParamValue"><i><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></i></a>.  For a deeper
understanding of the following parameters, please refer to the
section <em>Algorithm</em> below.
</p>
<ul>

<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i> can be
used to specify the resolution ratio between two consecutive
warping levels in the coarse-to-fine warping hierarchy.
<i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i> must be selected from the open interval
(0,1).  For performance reasons, <i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i> is
typically set to 0.5, i.e., the number of pixels is halved in each
direction for each coarser warping level.  Values for
<i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i> close to 1 can lead to slightly better
results.  However, they require a disproportionately larger
computation time.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'warp_levels'</span><span data-if="c" style="display:none">"warp_levels"</span><span data-if="cpp" style="display:none">"warp_levels"</span><span data-if="com" style="display:none">"warp_levels"</span><span data-if="dotnet" style="display:none">"warp_levels"</span><span data-if="python" style="display:none">"warp_levels"</span></i> can be used
to restrict the warping hierarchy to a maximum number of levels.
For <i><span data-if="hdevelop" style="display:inline">'warp_levels'</span><span data-if="c" style="display:none">"warp_levels"</span><span data-if="cpp" style="display:none">"warp_levels"</span><span data-if="com" style="display:none">"warp_levels"</span><span data-if="dotnet" style="display:none">"warp_levels"</span><span data-if="python" style="display:none">"warp_levels"</span></i> =  0, the largest possible number of
levels is used.  If the image size does not allow to use the
specified number of levels (taking the resolution ratio
<i><span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span></i> into account), the largest possible
number of  levels is used.  Usually, <i><span data-if="hdevelop" style="display:inline">'warp_levels'</span><span data-if="c" style="display:none">"warp_levels"</span><span data-if="cpp" style="display:none">"warp_levels"</span><span data-if="com" style="display:none">"warp_levels"</span><span data-if="dotnet" style="display:none">"warp_levels"</span><span data-if="python" style="display:none">"warp_levels"</span></i> should
be set to 0.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'warp_last_level'</span><span data-if="c" style="display:none">"warp_last_level"</span><span data-if="cpp" style="display:none">"warp_last_level"</span><span data-if="com" style="display:none">"warp_last_level"</span><span data-if="dotnet" style="display:none">"warp_last_level"</span><span data-if="python" style="display:none">"warp_last_level"</span></i> can be used
to specify the number of warping levels for which the flow
increment should no longer be computed.  Usually,
<i><span data-if="hdevelop" style="display:inline">'warp_last_level'</span><span data-if="c" style="display:none">"warp_last_level"</span><span data-if="cpp" style="display:none">"warp_last_level"</span><span data-if="com" style="display:none">"warp_last_level"</span><span data-if="dotnet" style="display:none">"warp_last_level"</span><span data-if="python" style="display:none">"warp_last_level"</span></i> is set to 1 or 2, i.e., a flow increment
is computed for each warping level, or the finest warping level is
skipped in the computation.  In the latter case, the computation
is performed on an image of half the resolution of the original
image and then interpolated to the full resolution.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'outer_iter'</span><span data-if="c" style="display:none">"outer_iter"</span><span data-if="cpp" style="display:none">"outer_iter"</span><span data-if="com" style="display:none">"outer_iter"</span><span data-if="dotnet" style="display:none">"outer_iter"</span><span data-if="python" style="display:none">"outer_iter"</span></i> can be used to
specify the number of outer iterations in the minimization scheme.
Typically, the larger <i><span data-if="hdevelop" style="display:inline">'outer_iter'</span><span data-if="c" style="display:none">"outer_iter"</span><span data-if="cpp" style="display:none">"outer_iter"</span><span data-if="com" style="display:none">"outer_iter"</span><span data-if="dotnet" style="display:none">"outer_iter"</span><span data-if="python" style="display:none">"outer_iter"</span></i>, the more accurate the
numerical results are.  Higher values for this parameter lead to
an increase in the computation time.  Typically,
<i><span data-if="hdevelop" style="display:inline">'outer_iter'</span><span data-if="c" style="display:none">"outer_iter"</span><span data-if="cpp" style="display:none">"outer_iter"</span><span data-if="com" style="display:none">"outer_iter"</span><span data-if="dotnet" style="display:none">"outer_iter"</span><span data-if="python" style="display:none">"outer_iter"</span></i> is set to values between 5 and 10.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'inner_iter'</span><span data-if="c" style="display:none">"inner_iter"</span><span data-if="cpp" style="display:none">"inner_iter"</span><span data-if="com" style="display:none">"inner_iter"</span><span data-if="dotnet" style="display:none">"inner_iter"</span><span data-if="python" style="display:none">"inner_iter"</span></i> can be used to
specify the number of inner iterations in the minimization scheme.
Typically, the larger <i><span data-if="hdevelop" style="display:inline">'inner_iter'</span><span data-if="c" style="display:none">"inner_iter"</span><span data-if="cpp" style="display:none">"inner_iter"</span><span data-if="com" style="display:none">"inner_iter"</span><span data-if="dotnet" style="display:none">"inner_iter"</span><span data-if="python" style="display:none">"inner_iter"</span></i>, the more accurate the
numerical results are.  Higher values for this parameter lead to
an increase in the computation time.  Usually, two inner
iterations are sufficient.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'sor_iter'</span><span data-if="c" style="display:none">"sor_iter"</span><span data-if="cpp" style="display:none">"sor_iter"</span><span data-if="com" style="display:none">"sor_iter"</span><span data-if="dotnet" style="display:none">"sor_iter"</span><span data-if="python" style="display:none">"sor_iter"</span></i> can be used to
specify the number of SOR iterations for solving the linear system
of equations.  Typically, the larger <i><span data-if="hdevelop" style="display:inline">'sor_iter'</span><span data-if="c" style="display:none">"sor_iter"</span><span data-if="cpp" style="display:none">"sor_iter"</span><span data-if="com" style="display:none">"sor_iter"</span><span data-if="dotnet" style="display:none">"sor_iter"</span><span data-if="python" style="display:none">"sor_iter"</span></i>, the more
accurate the numerical results are.  Higher values for this
parameter lead to an increase in the computation time.  Usually,
three SOR iterations are sufficient.
</p>
</li>
<li>
<p> <a href="#GenParamName"><i><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></i></a> = <i><span data-if="hdevelop" style="display:inline">'omega'</span><span data-if="c" style="display:none">"omega"</span><span data-if="cpp" style="display:none">"omega"</span><span data-if="com" style="display:none">"omega"</span><span data-if="dotnet" style="display:none">"omega"</span><span data-if="python" style="display:none">"omega"</span></i> can be used to
specify the relaxation factor <span title="4" style="vertical-align:-0.0991602em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.781872em" height="0.573321em" viewBox="0 0 12.509949 9.173141">
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</svg></span> of the SOR
method.  <i><span data-if="hdevelop" style="display:inline">'omega'</span><span data-if="c" style="display:none">"omega"</span><span data-if="cpp" style="display:none">"omega"</span><span data-if="com" style="display:none">"omega"</span><span data-if="dotnet" style="display:none">"omega"</span><span data-if="python" style="display:none">"omega"</span></i> must be selected from the open interval
(1,2).  Typically, <i><span data-if="hdevelop" style="display:inline">'omega'</span><span data-if="c" style="display:none">"omega"</span><span data-if="cpp" style="display:none">"omega"</span><span data-if="com" style="display:none">"omega"</span><span data-if="dotnet" style="display:none">"omega"</span><span data-if="python" style="display:none">"omega"</span></i> is set to 1.9.
</p>
</li>
</ul>
<h3>Algorithm</h3>
<p>The scene flow is estimated by minimizing a suitable energy
functional:
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where f=(u,v,dc) is the optical flow field and the disparity
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</svg></span> denotes the data term and
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</svg></span> the smoothness (regularization) term.  The
algorithm is based on the following assumptions, which lead to the
data and smoothness terms:
</p>
<dl class="generic">


<dt><b>Brightness Constancy</b></dt>
<dd>
<p>
 It is assumed that the gray value of a
point remains constant in all four input images, resulting in the
following four constraints:
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<a href="#ImageRect1T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></i></a>, <a href="#ImageRect2T1"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></i></a>, <a href="#ImageRect1T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></i></a>,
and <a href="#ImageRect2T2"><i><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></i></a>, respectively.
</p>
</dd>

<dt><b>Piecewise smoothness of the scene flow</b></dt>
<dd>
<p>
 The solution is
assumed to be piecewise smooth.  This smoothness is achieved by
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in the scene flow to be determined.
</p>
</dd>
</dl>
<p>Because the disparity image d is given, the first constraint
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</svg></span> can be omitted.  Taking into account all of the
above assumptions, the energy functional can be written as
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,408.354431 21.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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    <use xlink:href="#GLYPHcmmi10_99" x="5.204950"></use>
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,499.500351 21.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,512.850510 21.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,521.706055 21.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,547.051910 21.985046)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
</svg></span>
where <span title="18" style="vertical-align:-0.0959262em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.707152em" height="0.816853em" viewBox="0 0 11.314438 13.069641">
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</svg></span> and <span title="19" style="vertical-align:-0.26474em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.697143em" height="0.767041em" viewBox="0 0 11.154282 12.272659">
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  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.438843 8.036819)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_13"></use>
  </g>
</svg></span> are the
regularization parameters passed in <a href="#SmoothingFlow"><i><code><span data-if="hdevelop" style="display:inline">SmoothingFlow</span><span data-if="c" style="display:none">SmoothingFlow</span><span data-if="cpp" style="display:none">SmoothingFlow</span><span data-if="com" style="display:none">SmoothingFlow</span><span data-if="dotnet" style="display:none">smoothingFlow</span><span data-if="python" style="display:none">smoothing_flow</span></code></i></a> and
<a href="#SmoothingDisparity"><i><code><span data-if="hdevelop" style="display:inline">SmoothingDisparity</span><span data-if="c" style="display:none">SmoothingDisparity</span><span data-if="cpp" style="display:none">SmoothingDisparity</span><span data-if="com" style="display:none">SmoothingDisparity</span><span data-if="dotnet" style="display:none">smoothingDisparity</span><span data-if="python" style="display:none">smoothing_disparity</span></code></i></a>.
</p>
<p>To calculate large displacements, coarse-to-fine warping strategies
use two concepts that are closely interlocked: The successive
refinement of the problem (coarse-to-fine) and the successive
compensation of the current image pair by already computed
displacements (warping).  Algorithmically, such coarse-to-fine
warping strategies can be described as follows:
</p>
<ol>
<li>
<p> First, all images are zoomed down to a very coarse resolution
level.
</p>
</li>
<li>
<p> Then, the scene flow is computed on this coarse resolution.
</p>
</li>
<li>
<p> The scene flow is required on the next resolution level: It is
applied there to the second image pair of the image sequence,
i.e., the problem on the finer resolution level is compensated by
the already computed scene flow.  This step is also known as
warping.
</p>
</li>
<li>
<p> The modified problem (difference problem) is now solved on the
finer resolution level, i.e., the scene scene flow is computed
there.
</p>
</li>
<li>
<p> The steps 3-4 are repeated until the finest resolution level
is reached.
</p>
</li>
<li>
<p> The final result is computed by adding up the scene flow from
all resolution levels.
</p>
</li>
</ol>
<p>This incremental computation of the scene flow has the following
advantage: While the coarse-to-fine strategy ensures that the
displacements on the finest resolution level are very small, the
warping strategy ensures that the displacements remain small for the
incremental displacements (scene flow of the difference problems).
Since small displacements can be computed much more accurately than
larger displacements, the accuracy of the results typically
increases significantly by using such a coarse-to-fine warping
strategy.  However, instead of having to solve a single
correspondence problem, an entire hierarchy of these problems must
be solved.
</p>
<p>The minimization of functionals is mathematically very closely
related to the minimization of functions: Like the fact that the
zero crossing of the first derivative is a necessary condition for
the minimum of a function, the fulfillment of the so called
Euler-Lagrange equations is a necessary condition for the minimizing
function of a functional (the minimizing function corresponds to the
desired scene flow in this case).  The Euler-Lagrange equations are
partial differential equations.  By discretizing these
Euler-Lagrange equations using finite differences, large sparse
nonlinear equation systems have to be solved in this algorithm.
</p>
<p>For each warping level a single equation system must be solved.  The
algorithm uses an iteration scheme consisting of two nested
iterations (called the outer and inner iteration) and the SOR
(Successive Over-Relaxation) method.  The outer loop contains the
linearization of the nonlinear terms resulting from the data
constraints.  The nonlinearity of <span title="20" style="vertical-align:-0.124486em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="1.18038em" height="0.873973em" viewBox="0 0 18.886154 13.983566">
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      <path style="fill-rule: evenodd;" d="M290.000000 -472.000000C298.000000 -489.000000,299.000000 -497.000000,299.000000 -504.000000C299.000000 -535.000000,271.000000 -559.000000,240.000000 -559.000000C202.000000 -559.000000,190.000000 -528.000000,185.000000 -512.000000L53.000000 -79.000000C52.000000 -77.000000,48.000000 -64.000000,48.000000 -63.000000C48.000000 -51.000000,79.000000 -41.000000,87.000000 -41.000000C94.000000 -41.000000,95.000000 -43.000000,102.000000 -58.000000"></path>
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  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,12.970886 6.207123)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
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  </g>
</svg></span> is removed by
the inner fixed point iteration scheme.  The resulting linear system
of equations can be solved efficiently by the SOR method.
</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  
    <li>Automatically parallelized on internal data level.</li>
  
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="ImageRect1T1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect1T1</span><span data-if="c" style="display:none">ImageRect1T1</span><span data-if="cpp" style="display:none">ImageRect1T1</span><span data-if="com" style="display:none">ImageRect1T1</span><span data-if="dotnet" style="display:none">imageRect1T1</span><span data-if="python" style="display:none">image_rect_1t1</span></code></b> (input_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2 / real)</span>
</div>
<p class="pardesc">Input image 1 at time <span title="21" style="vertical-align:-0.218053em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.932703em" height="0.887224em" viewBox="0 0 14.923248 14.195587">
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    </g>
    <g transform="scale(0.006974,0.006974)" id="GLYPHcmr7_49">
      <path style="fill-rule: evenodd;" d="M335.000000 -636.000000C335.000000 -663.000000,333.000000 -664.000000,305.000000 -664.000000C241.000000 -601.000000,150.000000 -600.000000,109.000000 -600.000000L109.000000 -564.000000C133.000000 -564.000000,199.000000 -564.000000,254.000000 -592.000000L254.000000 -82.000000C254.000000 -49.000000,254.000000 -36.000000,154.000000 -36.000000L116.000000 -36.000000L116.000000 -0.000000L294.000000 -0.000000L134.000000 -1.000000L257.000000 -4.000000L294.000000 -4.000000L325.000000 -4.000000L451.000000 -1.000000L473.000000 -0.000000L473.000000 -36.000000L435.000000 -36.000000C335.000000 -36.000000,335.000000 -49.000000,335.000000 -82.000000"></path>
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  </g>
</svg></span>.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect2T1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect2T1</span><span data-if="c" style="display:none">ImageRect2T1</span><span data-if="cpp" style="display:none">ImageRect2T1</span><span data-if="com" style="display:none">ImageRect2T1</span><span data-if="dotnet" style="display:none">imageRect2T1</span><span data-if="python" style="display:none">image_rect_2t1</span></code></b> (input_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2 / real)</span>
</div>
<p class="pardesc">Input image 2 at time <span title="22" style="vertical-align:-0.218053em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.932703em" height="0.887224em" viewBox="0 0 14.923248 14.195587">
<!-- Original BoundingBox: -7.461624 -7.097794 7.461624 7.097794 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_116">
      <path style="fill-rule: evenodd;" d="M206.000000 -400.000000L300.000000 -400.000000C320.000000 -400.000000,330.000000 -400.000000,330.000000 -420.000000C330.000000 -431.000000,320.000000 -431.000000,302.000000 -431.000000L214.000000 -431.000000C250.000000 -573.000000,255.000000 -593.000000,255.000000 -599.000000C255.000000 -616.000000,243.000000 -626.000000,226.000000 -626.000000C223.000000 -626.000000,195.000000 -625.000000,186.000000 -590.000000L147.000000 -431.000000L53.000000 -431.000000C33.000000 -431.000000,23.000000 -431.000000,23.000000 -412.000000C23.000000 -400.000000,31.000000 -400.000000,51.000000 -400.000000L139.000000 -400.000000C67.000000 -116.000000,63.000000 -99.000000,63.000000 -81.000000C63.000000 -27.000000,101.000000 11.000000,155.000000 11.000000C257.000000 11.000000,314.000000 -135.000000,314.000000 -143.000000C314.000000 -153.000000,306.000000 -153.000000,302.000000 -153.000000C293.000000 -153.000000,292.000000 -150.000000,287.000000 -139.000000C244.000000 -35.000000,191.000000 -11.000000,157.000000 -11.000000C136.000000 -11.000000,126.000000 -24.000000,126.000000 -57.000000C126.000000 -81.000000,128.000000 -88.000000,132.000000 -105.000000"></path>
    </g>
    <g transform="scale(0.006974,0.006974)" id="GLYPHcmr7_49">
      <path style="fill-rule: evenodd;" d="M335.000000 -636.000000C335.000000 -663.000000,333.000000 -664.000000,305.000000 -664.000000C241.000000 -601.000000,150.000000 -600.000000,109.000000 -600.000000L109.000000 -564.000000C133.000000 -564.000000,199.000000 -564.000000,254.000000 -592.000000L254.000000 -82.000000C254.000000 -49.000000,254.000000 -36.000000,154.000000 -36.000000L116.000000 -36.000000L116.000000 -0.000000L294.000000 -0.000000L134.000000 -1.000000L257.000000 -4.000000L294.000000 -4.000000L325.000000 -4.000000L451.000000 -1.000000L473.000000 -0.000000L473.000000 -36.000000L435.000000 -36.000000C335.000000 -36.000000,335.000000 -49.000000,335.000000 -82.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.554367 10.706741)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_116"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.310562 13.097794)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr7_49"></use>
  </g>
</svg></span>.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect1T2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect1T2</span><span data-if="c" style="display:none">ImageRect1T2</span><span data-if="cpp" style="display:none">ImageRect1T2</span><span data-if="com" style="display:none">ImageRect1T2</span><span data-if="dotnet" style="display:none">imageRect1T2</span><span data-if="python" style="display:none">image_rect_1t2</span></code></b> (input_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2 / real)</span>
</div>
<p class="pardesc">Input image 1 at time <span title="23" style="vertical-align:-0.218053em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.932703em" height="0.887224em" viewBox="0 0 14.923248 14.195587">
<!-- Original BoundingBox: -7.461624 -7.097794 7.461624 7.097794 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_116">
      <path style="fill-rule: evenodd;" d="M206.000000 -400.000000L300.000000 -400.000000C320.000000 -400.000000,330.000000 -400.000000,330.000000 -420.000000C330.000000 -431.000000,320.000000 -431.000000,302.000000 -431.000000L214.000000 -431.000000C250.000000 -573.000000,255.000000 -593.000000,255.000000 -599.000000C255.000000 -616.000000,243.000000 -626.000000,226.000000 -626.000000C223.000000 -626.000000,195.000000 -625.000000,186.000000 -590.000000L147.000000 -431.000000L53.000000 -431.000000C33.000000 -431.000000,23.000000 -431.000000,23.000000 -412.000000C23.000000 -400.000000,31.000000 -400.000000,51.000000 -400.000000L139.000000 -400.000000C67.000000 -116.000000,63.000000 -99.000000,63.000000 -81.000000C63.000000 -27.000000,101.000000 11.000000,155.000000 11.000000C257.000000 11.000000,314.000000 -135.000000,314.000000 -143.000000C314.000000 -153.000000,306.000000 -153.000000,302.000000 -153.000000C293.000000 -153.000000,292.000000 -150.000000,287.000000 -139.000000C244.000000 -35.000000,191.000000 -11.000000,157.000000 -11.000000C136.000000 -11.000000,126.000000 -24.000000,126.000000 -57.000000C126.000000 -81.000000,128.000000 -88.000000,132.000000 -105.000000"></path>
    </g>
    <g transform="scale(0.006974,0.006974)" id="GLYPHcmr7_50">
      <path style="fill-rule: evenodd;" d="M505.000000 -182.000000L471.000000 -182.000000C468.000000 -160.000000,458.000000 -101.000000,445.000000 -91.000000C437.000000 -85.000000,360.000000 -85.000000,346.000000 -85.000000L162.000000 -85.000000C267.000000 -178.000000,302.000000 -206.000000,362.000000 -253.000000C436.000000 -312.000000,505.000000 -374.000000,505.000000 -469.000000C505.000000 -590.000000,399.000000 -664.000000,271.000000 -664.000000C147.000000 -664.000000,63.000000 -577.000000,63.000000 -485.000000C63.000000 -434.000000,106.000000 -429.000000,116.000000 -429.000000C140.000000 -429.000000,169.000000 -446.000000,169.000000 -482.000000C169.000000 -500.000000,162.000000 -535.000000,110.000000 -535.000000C141.000000 -606.000000,209.000000 -628.000000,256.000000 -628.000000C356.000000 -628.000000,408.000000 -550.000000,408.000000 -469.000000C408.000000 -382.000000,346.000000 -313.000000,314.000000 -277.000000L73.000000 -39.000000C63.000000 -30.000000,63.000000 -28.000000,63.000000 -0.000000L475.000000 -0.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.554367 10.706741)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_116"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.310562 13.097794)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr7_50"></use>
  </g>
</svg></span>.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ImageRect2T2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ImageRect2T2</span><span data-if="c" style="display:none">ImageRect2T2</span><span data-if="cpp" style="display:none">ImageRect2T2</span><span data-if="com" style="display:none">ImageRect2T2</span><span data-if="dotnet" style="display:none">imageRect2T2</span><span data-if="python" style="display:none">image_rect_2t2</span></code></b> (input_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (byte / uint2 / real)</span>
</div>
<p class="pardesc">Input image 2 at time <span title="24" style="vertical-align:-0.218053em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.932703em" height="0.887224em" viewBox="0 0 14.923248 14.195587">
<!-- Original BoundingBox: -7.461624 -7.097794 7.461624 7.097794 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_116">
      <path style="fill-rule: evenodd;" d="M206.000000 -400.000000L300.000000 -400.000000C320.000000 -400.000000,330.000000 -400.000000,330.000000 -420.000000C330.000000 -431.000000,320.000000 -431.000000,302.000000 -431.000000L214.000000 -431.000000C250.000000 -573.000000,255.000000 -593.000000,255.000000 -599.000000C255.000000 -616.000000,243.000000 -626.000000,226.000000 -626.000000C223.000000 -626.000000,195.000000 -625.000000,186.000000 -590.000000L147.000000 -431.000000L53.000000 -431.000000C33.000000 -431.000000,23.000000 -431.000000,23.000000 -412.000000C23.000000 -400.000000,31.000000 -400.000000,51.000000 -400.000000L139.000000 -400.000000C67.000000 -116.000000,63.000000 -99.000000,63.000000 -81.000000C63.000000 -27.000000,101.000000 11.000000,155.000000 11.000000C257.000000 11.000000,314.000000 -135.000000,314.000000 -143.000000C314.000000 -153.000000,306.000000 -153.000000,302.000000 -153.000000C293.000000 -153.000000,292.000000 -150.000000,287.000000 -139.000000C244.000000 -35.000000,191.000000 -11.000000,157.000000 -11.000000C136.000000 -11.000000,126.000000 -24.000000,126.000000 -57.000000C126.000000 -81.000000,128.000000 -88.000000,132.000000 -105.000000"></path>
    </g>
    <g transform="scale(0.006974,0.006974)" id="GLYPHcmr7_50">
      <path style="fill-rule: evenodd;" d="M505.000000 -182.000000L471.000000 -182.000000C468.000000 -160.000000,458.000000 -101.000000,445.000000 -91.000000C437.000000 -85.000000,360.000000 -85.000000,346.000000 -85.000000L162.000000 -85.000000C267.000000 -178.000000,302.000000 -206.000000,362.000000 -253.000000C436.000000 -312.000000,505.000000 -374.000000,505.000000 -469.000000C505.000000 -590.000000,399.000000 -664.000000,271.000000 -664.000000C147.000000 -664.000000,63.000000 -577.000000,63.000000 -485.000000C63.000000 -434.000000,106.000000 -429.000000,116.000000 -429.000000C140.000000 -429.000000,169.000000 -446.000000,169.000000 -482.000000C169.000000 -500.000000,162.000000 -535.000000,110.000000 -535.000000C141.000000 -606.000000,209.000000 -628.000000,256.000000 -628.000000C356.000000 -628.000000,408.000000 -550.000000,408.000000 -469.000000C408.000000 -382.000000,346.000000 -313.000000,314.000000 -277.000000L73.000000 -39.000000C63.000000 -30.000000,63.000000 -28.000000,63.000000 -0.000000L475.000000 -0.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.554367 10.706741)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_116"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.310562 13.097794)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr7_50"></use>
  </g>
</svg></span>.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Disparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Disparity</span><span data-if="c" style="display:none">Disparity</span><span data-if="cpp" style="display:none">Disparity</span><span data-if="com" style="display:none">Disparity</span><span data-if="dotnet" style="display:none">disparity</span><span data-if="python" style="display:none">disparity</span></code></b> (input_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject</span> (real)</span>
</div>
<p class="pardesc">Disparity between input images 1 and 2 at time
<span title="25" style="vertical-align:-0.218053em" class="math"><!-- Created by MetaPost 1.902 on 2023.05.15:2033 --><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="0.932703em" height="0.887224em" viewBox="0 0 14.923248 14.195587">
<!-- Original BoundingBox: -7.461624 -7.097794 7.461624 7.097794 -->
  <defs>
    <g transform="scale(0.009963,0.009963)" id="GLYPHcmmi10_116">
      <path style="fill-rule: evenodd;" d="M206.000000 -400.000000L300.000000 -400.000000C320.000000 -400.000000,330.000000 -400.000000,330.000000 -420.000000C330.000000 -431.000000,320.000000 -431.000000,302.000000 -431.000000L214.000000 -431.000000C250.000000 -573.000000,255.000000 -593.000000,255.000000 -599.000000C255.000000 -616.000000,243.000000 -626.000000,226.000000 -626.000000C223.000000 -626.000000,195.000000 -625.000000,186.000000 -590.000000L147.000000 -431.000000L53.000000 -431.000000C33.000000 -431.000000,23.000000 -431.000000,23.000000 -412.000000C23.000000 -400.000000,31.000000 -400.000000,51.000000 -400.000000L139.000000 -400.000000C67.000000 -116.000000,63.000000 -99.000000,63.000000 -81.000000C63.000000 -27.000000,101.000000 11.000000,155.000000 11.000000C257.000000 11.000000,314.000000 -135.000000,314.000000 -143.000000C314.000000 -153.000000,306.000000 -153.000000,302.000000 -153.000000C293.000000 -153.000000,292.000000 -150.000000,287.000000 -139.000000C244.000000 -35.000000,191.000000 -11.000000,157.000000 -11.000000C136.000000 -11.000000,126.000000 -24.000000,126.000000 -57.000000C126.000000 -81.000000,128.000000 -88.000000,132.000000 -105.000000"></path>
    </g>
    <g transform="scale(0.006974,0.006974)" id="GLYPHcmr7_49">
      <path style="fill-rule: evenodd;" d="M335.000000 -636.000000C335.000000 -663.000000,333.000000 -664.000000,305.000000 -664.000000C241.000000 -601.000000,150.000000 -600.000000,109.000000 -600.000000L109.000000 -564.000000C133.000000 -564.000000,199.000000 -564.000000,254.000000 -592.000000L254.000000 -82.000000C254.000000 -49.000000,254.000000 -36.000000,154.000000 -36.000000L116.000000 -36.000000L116.000000 -0.000000L294.000000 -0.000000L134.000000 -1.000000L257.000000 -4.000000L294.000000 -4.000000L325.000000 -4.000000L451.000000 -1.000000L473.000000 -0.000000L473.000000 -36.000000L435.000000 -36.000000C335.000000 -36.000000,335.000000 -49.000000,335.000000 -82.000000"></path>
    </g>
  </defs>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,0.554367 10.706741)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmmi10_116"></use>
  </g>
  <g transform="matrix(1.600006,-0.000000,-0.000000,1.600006,6.310562 13.097794)" style="fill: rgb(0.000000%,0.000000%,0.000000%);">
    <use xlink:href="#GLYPHcmr7_49"></use>
  </g>
</svg></span>.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="OpticalFlow" class="parname"><b><code><span data-if="hdevelop" style="display:inline">OpticalFlow</span><span data-if="c" style="display:none">OpticalFlow</span><span data-if="cpp" style="display:none">OpticalFlow</span><span data-if="com" style="display:none">OpticalFlow</span><span data-if="dotnet" style="display:none">opticalFlow</span><span data-if="python" style="display:none">optical_flow</span></code></b> (output_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (vector_field)</span>
</div>
<p class="pardesc">Estimated optical flow.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="DisparityChange" class="parname"><b><code><span data-if="hdevelop" style="display:inline">DisparityChange</span><span data-if="c" style="display:none">DisparityChange</span><span data-if="cpp" style="display:none">DisparityChange</span><span data-if="com" style="display:none">DisparityChange</span><span data-if="dotnet" style="display:none">disparityChange</span><span data-if="python" style="display:none">disparity_change</span></code></b> (output_object)  </span><span>singlechannelimage(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (real)</span>
</div>
<p class="pardesc">Estimated change in disparity.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="SmoothingFlow" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SmoothingFlow</span><span data-if="c" style="display:none">SmoothingFlow</span><span data-if="cpp" style="display:none">SmoothingFlow</span><span data-if="com" style="display:none">SmoothingFlow</span><span data-if="dotnet" style="display:none">smoothingFlow</span><span data-if="python" style="display:none">smoothing_flow</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Weight of the regularization term relative to
the data term (derivatives of the optical
flow).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>40.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 80.0, 90.0, 100.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>SmoothingFlow &gt; 0.0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="SmoothingDisparity" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SmoothingDisparity</span><span data-if="c" style="display:none">SmoothingDisparity</span><span data-if="cpp" style="display:none">SmoothingDisparity</span><span data-if="com" style="display:none">SmoothingDisparity</span><span data-if="dotnet" style="display:none">smoothingDisparity</span><span data-if="python" style="display:none">smoothing_disparity</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[float, int]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Weight of the regularization term relative to
the data term (derivatives of the disparity
change).</p>
<p class="pardesc"><span class="parcat">Default:
      </span>40.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 80.0, 90.0, 100.0</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>SmoothingDisparity &gt; 0.0</code></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamName" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamName</span><span data-if="c" style="display:none">GenParamName</span><span data-if="cpp" style="display:none">GenParamName</span><span data-if="com" style="display:none">GenParamName</span><span data-if="dotnet" style="display:none">genParamName</span><span data-if="python" style="display:none">gen_param_name</span></code></b> (input_control)  </span><span>attribute.name(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Parameter name(s) for the algorithm.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'default_parameters'</span>
    <span data-if="c" style="display:none">"default_parameters"</span>
    <span data-if="cpp" style="display:none">"default_parameters"</span>
    <span data-if="com" style="display:none">"default_parameters"</span>
    <span data-if="dotnet" style="display:none">"default_parameters"</span>
    <span data-if="python" style="display:none">"default_parameters"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'default_parameters'</span><span data-if="c" style="display:none">"default_parameters"</span><span data-if="cpp" style="display:none">"default_parameters"</span><span data-if="com" style="display:none">"default_parameters"</span><span data-if="dotnet" style="display:none">"default_parameters"</span><span data-if="python" style="display:none">"default_parameters"</span>, <span data-if="hdevelop" style="display:inline">'warp_levels'</span><span data-if="c" style="display:none">"warp_levels"</span><span data-if="cpp" style="display:none">"warp_levels"</span><span data-if="com" style="display:none">"warp_levels"</span><span data-if="dotnet" style="display:none">"warp_levels"</span><span data-if="python" style="display:none">"warp_levels"</span>, <span data-if="hdevelop" style="display:inline">'warp_zoom_factor'</span><span data-if="c" style="display:none">"warp_zoom_factor"</span><span data-if="cpp" style="display:none">"warp_zoom_factor"</span><span data-if="com" style="display:none">"warp_zoom_factor"</span><span data-if="dotnet" style="display:none">"warp_zoom_factor"</span><span data-if="python" style="display:none">"warp_zoom_factor"</span>, <span data-if="hdevelop" style="display:inline">'warp_last_level'</span><span data-if="c" style="display:none">"warp_last_level"</span><span data-if="cpp" style="display:none">"warp_last_level"</span><span data-if="com" style="display:none">"warp_last_level"</span><span data-if="dotnet" style="display:none">"warp_last_level"</span><span data-if="python" style="display:none">"warp_last_level"</span>, <span data-if="hdevelop" style="display:inline">'outer_iter'</span><span data-if="c" style="display:none">"outer_iter"</span><span data-if="cpp" style="display:none">"outer_iter"</span><span data-if="com" style="display:none">"outer_iter"</span><span data-if="dotnet" style="display:none">"outer_iter"</span><span data-if="python" style="display:none">"outer_iter"</span>, <span data-if="hdevelop" style="display:inline">'inner_iter'</span><span data-if="c" style="display:none">"inner_iter"</span><span data-if="cpp" style="display:none">"inner_iter"</span><span data-if="com" style="display:none">"inner_iter"</span><span data-if="dotnet" style="display:none">"inner_iter"</span><span data-if="python" style="display:none">"inner_iter"</span>, <span data-if="hdevelop" style="display:inline">'sor_iter'</span><span data-if="c" style="display:none">"sor_iter"</span><span data-if="cpp" style="display:none">"sor_iter"</span><span data-if="com" style="display:none">"sor_iter"</span><span data-if="dotnet" style="display:none">"sor_iter"</span><span data-if="python" style="display:none">"sor_iter"</span>, <span data-if="hdevelop" style="display:inline">'omega'</span><span data-if="c" style="display:none">"omega"</span><span data-if="cpp" style="display:none">"omega"</span><span data-if="com" style="display:none">"omega"</span><span data-if="dotnet" style="display:none">"omega"</span><span data-if="python" style="display:none">"omega"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="GenParamValue" class="parname"><b><code><span data-if="hdevelop" style="display:inline">GenParamValue</span><span data-if="c" style="display:none">GenParamValue</span><span data-if="cpp" style="display:none">GenParamValue</span><span data-if="com" style="display:none">GenParamValue</span><span data-if="dotnet" style="display:none">genParamValue</span><span data-if="python" style="display:none">gen_param_value</span></code></b> (input_control)  </span><span>attribute.value(-array) <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">MaybeSequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">real)</span><span data-if="dotnet" style="display:none"> (<i>string</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">double)</span><span data-if="cpp" style="display:none"> (<i>HString</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">double)</span><span data-if="c" style="display:none"> (<i>char*</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">double)</span></span>
</div>
<p class="pardesc">Parameter value(s) for the algorithm.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'accurate'</span>
    <span data-if="c" style="display:none">"accurate"</span>
    <span data-if="cpp" style="display:none">"accurate"</span>
    <span data-if="com" style="display:none">"accurate"</span>
    <span data-if="dotnet" style="display:none">"accurate"</span>
    <span data-if="python" style="display:none">"accurate"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'very_accurate'</span><span data-if="c" style="display:none">"very_accurate"</span><span data-if="cpp" style="display:none">"very_accurate"</span><span data-if="com" style="display:none">"very_accurate"</span><span data-if="dotnet" style="display:none">"very_accurate"</span><span data-if="python" style="display:none">"very_accurate"</span>, <span data-if="hdevelop" style="display:inline">'accurate'</span><span data-if="c" style="display:none">"accurate"</span><span data-if="cpp" style="display:none">"accurate"</span><span data-if="com" style="display:none">"accurate"</span><span data-if="dotnet" style="display:none">"accurate"</span><span data-if="python" style="display:none">"accurate"</span>, <span data-if="hdevelop" style="display:inline">'fast'</span><span data-if="c" style="display:none">"fast"</span><span data-if="cpp" style="display:none">"fast"</span><span data-if="com" style="display:none">"fast"</span><span data-if="dotnet" style="display:none">"fast"</span><span data-if="python" style="display:none">"fast"</span>, <span data-if="hdevelop" style="display:inline">'very_fast'</span><span data-if="c" style="display:none">"very_fast"</span><span data-if="cpp" style="display:none">"very_fast"</span><span data-if="com" style="display:none">"very_fast"</span><span data-if="dotnet" style="display:none">"very_fast"</span><span data-if="python" style="display:none">"very_fast"</span>, 0, 1, 2, 3, 4, 5, 6, 0.5, 0.6, 0.7, 0.75, 3, 5, 7, 2, 3, 1.9</p>
</div>
<h2 id="sec_result">结果</h2>
<p>If the parameter values are correct, 该算子
<code><span data-if="hdevelop" style="display:inline">scene_flow_uncalib</span><span data-if="c" style="display:none">scene_flow_uncalib</span><span data-if="cpp" style="display:none">SceneFlowUncalib</span><span data-if="com" style="display:none">SceneFlowUncalib</span><span data-if="dotnet" style="display:none">SceneFlowUncalib</span><span data-if="python" style="display:none">scene_flow_uncalib</span></code> 返回值 <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
    .  If the input is
empty (no input images are available) the behavior can be set via
<a href="set_system.html"><code><span data-if="hdevelop" style="display:inline">set_system('no_object_result',&lt;Result&gt;)</span><span data-if="c" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span><span data-if="cpp" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="com" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="dotnet" style="display:none">SetSystem("no_object_result",&lt;Result&gt;)</span><span data-if="python" style="display:none">set_system("no_object_result",&lt;Result&gt;)</span></code></a>.  If necessary, an
exception is raised.</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="binocular_disparity.html"><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></a></code>, 
<code><a href="binocular_disparity_mg.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="threshold.html"><span data-if="hdevelop" style="display:inline">threshold</span><span data-if="c" style="display:none">threshold</span><span data-if="cpp" style="display:none">Threshold</span><span data-if="com" style="display:none">Threshold</span><span data-if="dotnet" style="display:none">Threshold</span><span data-if="python" style="display:none">threshold</span></a></code>, 
<code><a href="vector_field_length.html"><span data-if="hdevelop" style="display:inline">vector_field_length</span><span data-if="c" style="display:none">vector_field_length</span><span data-if="cpp" style="display:none">VectorFieldLength</span><span data-if="com" style="display:none">VectorFieldLength</span><span data-if="dotnet" style="display:none">VectorFieldLength</span><span data-if="python" style="display:none">vector_field_length</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="scene_flow_calib.html"><span data-if="hdevelop" style="display:inline">scene_flow_calib</span><span data-if="c" style="display:none">scene_flow_calib</span><span data-if="cpp" style="display:none">SceneFlowCalib</span><span data-if="com" style="display:none">SceneFlowCalib</span><span data-if="dotnet" style="display:none">SceneFlowCalib</span><span data-if="python" style="display:none">scene_flow_calib</span></a></code>, 
<code><a href="optical_flow_mg.html"><span data-if="hdevelop" style="display:inline">optical_flow_mg</span><span data-if="c" style="display:none">optical_flow_mg</span><span data-if="cpp" style="display:none">OpticalFlowMg</span><span data-if="com" style="display:none">OpticalFlowMg</span><span data-if="dotnet" style="display:none">OpticalFlowMg</span><span data-if="python" style="display:none">optical_flow_mg</span></a></code>
</p>
<h2 id="sec_references">References</h2>
<p>

A. Wedel, C. Rabe, T. Vaudrey, T. Brox, U. Franke and D. Cremers:
“Efficient dense scene flow from sparse or dense stereo data”;
In: Proceedings of the 10th European Conference on Computer Vision:
Part I, pages 739-751.  Springer-Verlag, 2008.

</p>
<h2 id="sec_module">模块</h2>
<p>
Foundation</p>
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